PID LQR control for a quadrotor: Modeling and simulation

摘要

This paper aims to present a comparison between various controllers to be used in dynamic model of a quadrotor platform. The controllers assumed in this work are conventional PID and a classic LQR controller. The PID controller is chosen for quadrotor model because of its versatility and facile implementation, while also providing a good response for the model dynamics attitudes. The LQR controller seemed to be a good comparative controller due to its great performance and robustness in the plant. In this study, it is accomplished that both the controllers provide satisfactory feedback for quadrotor stabilization.